修改pwm控制口，优化测试线程，新增摸头按键事件

app/src/main/java/com/ismart/ib86/app/MainActivity.java

@@ -1,9 +1,7 @@
 package com.ismart.ib86.app;
 
 import android.Manifest;
-import android.annotation.SuppressLint;
 import android.content.pm.PackageManager;
-import android.graphics.Color;
 import android.media.AudioAttributes;
 import android.media.AudioFormat;
 import android.media.AudioManager;
@@ -13,7 +11,7 @@ import android.media.MediaRecorder;
 import android.os.Bundle;
 import android.os.Handler;
 import android.os.Looper;
-import android.os.Message;
+import android.view.KeyEvent;
 import android.view.Window;
 import android.view.WindowInsets;
 import android.view.WindowInsetsController;
@@ -22,7 +20,6 @@ import android.view.View;
 import android.util.Log;
 import android.widget.Button;
 import android.widget.ImageView;
-import android.widget.RelativeLayout;
 import android.widget.SeekBar;
 import android.widget.TextView;
 import android.widget.Toast;
@@ -32,14 +29,10 @@ import androidx.core.app.ActivityCompat;
 import androidx.core.content.ContextCompat;
 
 import com.ismart.ib86.feature.serial.SerialPort.ASR5515Protocol;
-import com.ismart.ib86.feature.serial.SerialPort.SerialPortHelper;
 import com.ismart.ib86.feature.gpio.GpioManager;
 import com.ismart.ib86.feature.serial.SerialPort.ASR5515DeviceManager;
-import com.ismart.ib86.feature.serial.SerialPort.ASR5515Protocol;
 import com.ismart.ib86.common.utils.LogManager;
-import com.ismart.ib86.feature.gpio.GpioTest;
 import com.ismart.ib86.feature.motor.MotorController;
-import com.ismart.ib86.view.RobotEyesView;
 import com.lhht.xiaozhi.models.websokcet.send.WebSocketSendMsgFactory;
 import com.lhht.xiaozhi.settings.SettingsManager;
 import com.lhht.xiaozhi.utils.DeviceUtils;
@@ -55,6 +48,8 @@ import vip.inode.demo.opusaudiodemo.utils.OpusUtils;
 public class MainActivity extends AppCompatActivity implements WebSocketManager.WebSocketListener {
     private static final String TAG = "MainActivity";
     private static final String DEVICE_PATH = "/dev/ttyS3";
+
+    private static final int HEAD_TOUCH_KEY = 285;
     private static final int BAUD_RATE = 921600;
 
     // 权限请求码
@@ -95,6 +90,7 @@ public class MainActivity extends AppCompatActivity implements WebSocketManager.
     private short[] decodedBuffer;
     private short[] recordBuffer;
     private byte[] encodedBuffer;
+
     private boolean hasStartedCall = false;
     private boolean isRecording = false;
     private volatile boolean isDestroyed = false;
@@ -102,17 +98,25 @@ public class MainActivity extends AppCompatActivity implements WebSocketManager.
     private boolean isPlaying = false;
     private String sessionId = "";  // 添加session_id字段
     private long lastAudioDataTime = 0;  // 新增：记录最后一次收到音频数据的时间
+    private Thread motorControlThread; // 用于跟踪电机控制线程
     private boolean isCheckingPlaybackStatus = false;
-
-
-
     //xiaozhi end
-
+    // HeadTouchManager removed
     // UI控件
     private ImageView ivFace;
+    private Button btnRotateForward;
+    private Button btnRotateReverse;
+    private SeekBar seekBarDutyCycle;
+    private TextView tvDutyCycleValue;
+    private int currentDutyCyclePercent = 30; // 默认占空比30%
+    private static final int PWM_PERIOD = 1000000; // 1ms周期
     
     // 动画管理器
     private RobotFaceAnimationManager animationManager;
+    private boolean isCalibrating = false;
+    private boolean isForwardCalibration = false;
+    private boolean isReverseCalibration = false;
+
 
     private Runnable wearDetectionRunnable = new Runnable() {
         @Override
@@ -131,6 +135,43 @@ public class MainActivity extends AppCompatActivity implements WebSocketManager.
 
         // 初始化UI控件
         ivFace = (ImageView) this.findViewById(R.id.iv_face);
+//        btnRotateForward = (Button) this.findViewById(R.id.btn_rotate_forward);
+//        btnRotateReverse = (Button) this.findViewById(R.id.btn_rotate_reverse);
+//        seekBarDutyCycle = (SeekBar) this.findViewById(R.id.seekbar_duty_cycle);
+//        tvDutyCycleValue = (TextView) this.findViewById(R.id.tv_duty_cycle_value);
+
+//        // 设置占空比调整监听器
+//        seekBarDutyCycle.setOnSeekBarChangeListener(new SeekBar.OnSeekBarChangeListener() {
+//            @Override
+//            public void onProgressChanged(SeekBar seekBar, int progress, boolean fromUser) {
+//                currentDutyCyclePercent = progress;
+//                tvDutyCycleValue.setText("占空比: " + progress + "%");
+//            }
+//
+//            @Override
+//            public void onStartTrackingTouch(SeekBar seekBar) {}
+//
+//            @Override
+//            public void onStopTrackingTouch(SeekBar seekBar) {}
+//        });
+//
+//        // 设置正转按钮点击监听器
+//        btnRotateForward.setOnClickListener(v -> {
+//            if (motorController != null) {
+//                int dutyCycle = (int) (PWM_PERIOD * currentDutyCyclePercent / 100.0);
+//                motorController.rotateReverse(PWM_PERIOD, 0); // 确保反转PWM关闭
+//                motorController.rotateForward(PWM_PERIOD, dutyCycle);
+//            }
+//        });
+//
+//        // 设置反转按钮点击监听器
+//        btnRotateReverse.setOnClickListener(v -> {
+//            if (motorController != null) {
+//                int dutyCycle = (int) (PWM_PERIOD * currentDutyCyclePercent / 100.0);
+//                motorController.rotateForward(PWM_PERIOD, 0); // 确保正转PWM关闭
+//                motorController.rotateReverse(PWM_PERIOD, dutyCycle);
+//            }
+//        });
 
         // 初始化动画管理器
         animationManager = new RobotFaceAnimationManager(this, ivFace);
@@ -155,22 +196,18 @@ public class MainActivity extends AppCompatActivity implements WebSocketManager.
             handler.post(faceAnimationRunnable);
         }).start();
 
+
+
         // 检查并请求必要的权限
         checkAndRequestPermissions();
 
+
         // 隐藏状态栏和导航栏
         hideSystemBars();
         // 初始化设备管理器
         initDeviceManager();
-        //testMotorControl();
 
-//        // 延迟2秒后开始测试，确保设备管理器初始化完成
+        testMotorControl();
-//       handler.postDelayed(new Runnable() {
-//           @Override
-//           public void run() {
-//               startProtocolTests();
-//           }
-//       }, 2000);
 
         //xiaozhi
         initAudio();
@@ -285,6 +322,16 @@ public class MainActivity extends AppCompatActivity implements WebSocketManager.
 
     }
 
+    @Override
+    public boolean onKeyDown(int keyCode, KeyEvent event) {
+        Log.d(TAG, "keyCode: "+ keyCode);
+        if (keyCode == HEAD_TOUCH_KEY) {
+            // 处理返回键按下事件
+            Log.d(TAG, "触摸了机器人的头");
+            return true; // 返回true表示事件已被处理
+        }
+        return super.onKeyDown(keyCode, event); // 让系统继续处理其他按键事件
+    }
     private void startProtocolTests() {
         LogManager.d(TAG, "开始协议测试...");
         
@@ -389,6 +436,18 @@ public class MainActivity extends AppCompatActivity implements WebSocketManager.
                     gpioManager = null;
                 }
                 
+                // 中断电机控制线程
+                if (motorControlThread != null && motorControlThread.isAlive()) {
+                    try {
+                        motorControlThread.interrupt();
+                        motorControlThread.join(1000); // 等待线程结束，最多等待1秒
+                        LogManager.d(TAG, "电机控制线程已中断");
+                    } catch (InterruptedException e) {
+                        LogManager.e(TAG, "等待电机控制线程结束时被中断");
+                    }
+                    motorControlThread = null;
+                }
+                
                 // 释放电机控制器资源
                 if (motorController != null) {
                     try {
@@ -452,7 +511,17 @@ private void testMotorControl() {
             return;
         }
 
-        new Thread(() -> {
+        // 如果之前的线程还在运行，先中断它
+        if (motorControlThread != null && motorControlThread.isAlive()) {
+            motorControlThread.interrupt();
+            try {
+                motorControlThread.join(1000); // 等待线程结束，最多等待1秒
+            } catch (InterruptedException e) {
+                LogManager.e(TAG, "等待之前的电机控制线程结束时被中断");
+            }
+        }
+
+        motorControlThread = new Thread(() -> {
             try {
                 // 打开电机
                 LogManager.d(TAG, "打开电机");
@@ -462,44 +531,52 @@ private void testMotorControl() {
                 }
                 // 设置PWM参数
                 final int period = 1000000;
-                final int dutyCycle = 1000000; // 使用90%的占空比，避免duty_cycle等于period
+                final int fdutyCycle = 1000000; // 使用90%的占空比，避免duty_cycle等于period
-
+                final int rdutyCycle = 1000000; // 使用90%的占空比，避免duty_cycle等于period
-                Thread.sleep(10000);
+//                Thread.sleep(2000);
-//                LogManager.d(TAG, "电机正转");
 //                motorController.rotateReverse(period, 0); // 确保反转PWM关闭
 //                if (!motorController.rotateForward(period, dutyCycle)) {
 //                    LogManager.e(TAG, "电机正转失败");
 //                }
+//                Thread.sleep(2000);
+//                // 电机反转
+//                motorController.rotateForward(period, 0);
+//                if (!motorController.rotateReverse(period, dutyCycle)) {
+//                    LogManager.e(TAG, "电机反转失败");
+//                }
+
                 // 循环20次正反转
-                for (int i = 0; i < 100; i++) {
+                for (int i = 0; i < 10000; i++) {
                     LogManager.d(TAG, "开始第" + (i + 1) + "次正反转测试");
 
                     // 电机正转
                     LogManager.d(TAG, "电机正转");
                     motorController.rotateReverse(period, 0); // 确保反转PWM关闭
-                    if (!motorController.rotateForward(period, dutyCycle)) {
+                    if (!motorController.rotateForward(period, fdutyCycle)) {
                         LogManager.e(TAG, "电机正转失败");
                         break;
                     }
 
                     // 等待100ms
-                    Thread.sleep(100);
+                    Thread.sleep(120);
 
                     // 停止正转
                     motorController.rotateForward(period, 0);
-
+                    Thread.sleep(1000);
                     // 电机反转
                     LogManager.d(TAG, "电机反转");
-                    if (!motorController.rotateReverse(period, dutyCycle)) {
+                    if (!motorController.rotateReverse(period, rdutyCycle)) {
                         LogManager.e(TAG, "电机反转失败");
                         break;
                     }
 
                     // 等待100ms
-                    Thread.sleep(100);
+                    Thread.sleep(40);
 
                     // 停止反转
                     motorController.rotateReverse(period, 0);
+
+                    Thread.sleep(1000);
                 }
 
                 // 测试完成，关闭电机
@@ -513,7 +590,8 @@ private void testMotorControl() {
                 LogManager.e(TAG, "电机测试异常: " + e.getMessage());
                 motorController.turnOffMotor();
             }
-        }).start();
+        });
+        motorControlThread.start();
     }
 
     @Override

app/src/main/java/com/ismart/ib86/feature/motor/MotorController.java

@@ -24,7 +24,7 @@ public class MotorController {
 
     // PWM路径常量
     private static final String PWM_FORWARD_PATH = "/sys/class/pwm/pwmchip0/pwm0/";
-    private static final String PWM_REVERSE_PATH = "/sys/class/pwm/pwmchip1/pwm0/";
+    private static final String PWM_REVERSE_PATH = "/sys/class/pwm/pwmchip2/pwm0/";
     private static final String PWM_PERIOD_FILE = "period";
     private static final String PWM_DUTY_CYCLE_FILE = "duty_cycle";
     private static final String PWM_ENABLE_FILE = "enable";

app/src/main/res/layout/activity_main.xml

@@ -4,9 +4,72 @@
     android:id="@+id/main_layout"
     android:layout_width="match_parent"
     android:layout_height="match_parent"
+    android:background="#000000"
     tools:context=".MainActivity">
 
     <com.ismart.ib86.view.RobotEyesView
         android:layout_width="match_parent"
         android:layout_height="match_parent"/>
+        
+    <ImageView
+        android:id="@+id/iv_face"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_centerInParent="true"
+        android:layout_marginTop="-150dp"
+        android:src="@drawable/anim_face_xunhuan"/>
+        
+    <LinearLayout
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:orientation="vertical"
+        android:layout_alignParentBottom="true"
+        android:padding="16dp"
+        android:background="#80000000">
+        
+        <LinearLayout
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:orientation="horizontal">
+            
+            <Button
+                android:id="@+id/btn_rotate_forward"
+                android:layout_width="0dp"
+                android:layout_height="wrap_content"
+                android:layout_weight="1"
+                android:text="正转"
+                android:layout_marginEnd="8dp"/>
+                
+            <Button
+                android:id="@+id/btn_rotate_reverse"
+                android:layout_width="0dp"
+                android:layout_height="wrap_content"
+                android:layout_weight="1"
+                android:text="反转"
+                android:layout_marginStart="8dp"/>
+        </LinearLayout>
+        
+        <TextView
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:text="占空比调整"
+            android:textColor="#FFFFFF"
+            android:layout_marginTop="8dp"/>
+            
+        <SeekBar
+            android:id="@+id/seekbar_duty_cycle"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:max="100"
+            android:progress="30"
+            android:layout_marginTop="4dp"/>
+            
+        <TextView
+            android:id="@+id/tv_duty_cycle_value"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:text="占空比: 30%"
+            android:textColor="#FFFFFF"
+            android:layout_marginTop="4dp"/>
+    </LinearLayout>
 </RelativeLayout>